<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.9.1"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>Doxygen: registration/include/pcl/registration/transformation_validation_euclidean.h 源文件</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Doxygen
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- 制作者 Doxygen 1.9.1 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
var searchBox = new SearchBox("searchBox", "search",false,'搜索','.html');
/* @license-end */
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(function() {
  initMenu('',true,false,'search.php','搜索');
  $(document).ready(function() { init_search(); });
});
/* @license-end */</script>
<div id="main-nav"></div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(document).ready(function(){initNavTree('transformation__validation__euclidean_8h_source.html',''); initResizable(); });
/* @license-end */
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="headertitle">
<div class="title">transformation_validation_euclidean.h</div>  </div>
</div><!--header-->
<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_REGISTRATION_TRANSFORMATION_VALIDATION_EUCLIDEAN_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_REGISTRATION_TRANSFORMATION_VALIDATION_EUCLIDEAN_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/point_representation.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/search/kdtree.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/kdtree/kdtree.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/kdtree/kdtree_flann.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/transformation_validation.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;{</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  <span class="keyword">namespace </span>registration</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  {</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Source, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>Target, <span class="keyword">typename</span> Scalar = <span class="keywordtype">float</span>&gt;</div>
<div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html">   74</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html">TransformationValidationEuclidean</a></div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    {</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> TransformationValidation&lt;PointSource, PointTarget, Scalar&gt;::Matrix4 Matrix4;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;TransformationValidation&lt;PointSource, PointTarget, Scalar&gt; &gt; Ptr;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;const TransformationValidation&lt;PointSource, PointTarget, Scalar&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree&lt;PointTarget&gt;</a> <a class="code" href="classpcl_1_1search_1_1_kd_tree.html">KdTree</a>;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::search::KdTree&lt;PointTarget&gt;::Ptr KdTreePtr;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> KdTree::PointRepresentationConstPtr PointRepresentationConstPtr;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> TransformationValidation&lt;PointSource, PointTarget&gt;::PointCloudSourceConstPtr PointCloudSourceConstPtr;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> TransformationValidation&lt;PointSource, PointTarget&gt;::PointCloudTargetConstPtr PointCloudTargetConstPtr;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#ad0a9993b02007f440f6a70bed4cfabcb">   94</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#ad0a9993b02007f440f6a70bed4cfabcb">TransformationValidationEuclidean</a> () : </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a1dc810755f17be1e899ff5015ff4e54e">max_range_</a> (std::numeric_limits&lt;double&gt;::max ()),</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a266e46430d064eb803d7f2227a8526f5">threshold_</a> (std::numeric_limits&lt;double&gt;::quiet_NaN ()),</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#aab533873782c46397466279f20ebe2a0">tree_</a> (new pcl::search::<a class="code" href="classpcl_1_1search_1_1_kd_tree.html">KdTree</a>&lt;PointTarget&gt;),</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a11eadc8b12005ad20004486a95ebaaa4">force_no_recompute_</a> (false)</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        {</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        }</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        <span class="keyword">virtual</span> ~<a class="code" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html">TransformationValidationEuclidean</a> () {};</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00109"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a4d2c5b51f8e414fe6c2eb5d77fd7b7ec">  109</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a4d2c5b51f8e414fe6c2eb5d77fd7b7ec">setMaxRange</a> (<span class="keywordtype">double</span> max_range)</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        {</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a1dc810755f17be1e899ff5015ff4e54e">max_range_</a> = max_range;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        }</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00118"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a71682f1eb016eada0311db140d67360a">  118</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a71682f1eb016eada0311db140d67360a">getMaxRange</a> ()</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        {</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a1dc810755f17be1e899ff5015ff4e54e">max_range_</a>);</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        }</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00132"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a09e7a63b5ab2e28444fe5fbf3859d8fa">  132</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a09e7a63b5ab2e28444fe5fbf3859d8fa">setSearchMethodTarget</a> (<span class="keyword">const</span> KdTreePtr &amp;tree, </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;                               <span class="keywordtype">bool</span> force_no_recompute = <span class="keyword">false</span>) </div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        { </div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#aab533873782c46397466279f20ebe2a0">tree_</a> = tree; </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;          <span class="keywordflow">if</span> (force_no_recompute)</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;          {</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;            <a class="code" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a11eadc8b12005ad20004486a95ebaaa4">force_no_recompute_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;          }</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;        }</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160; </div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00151"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a088b2fe5791d85b42bc0df60ab159915">  151</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a088b2fe5791d85b42bc0df60ab159915">setThreshold</a> (<span class="keywordtype">double</span> threshold)</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;        {</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a266e46430d064eb803d7f2227a8526f5">threshold_</a> = threshold;</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;        }</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00158"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#aa55f5a002921ff508152c24c2433e0ff">  158</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#aa55f5a002921ff508152c24c2433e0ff">getThreshold</a> ()</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        {</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a266e46430d064eb803d7f2227a8526f5">threshold_</a>);</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;        }</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160; </div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;        <span class="keywordtype">double</span></div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a4a3b387d465db596de91c7a3762e95f2">validateTransformation</a> (</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;            <span class="keyword">const</span> PointCloudSourceConstPtr &amp;cloud_src,</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;            <span class="keyword">const</span> PointCloudTargetConstPtr &amp;cloud_tgt,</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;            <span class="keyword">const</span> Matrix4 &amp;transformation_matrix) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160; </div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00187"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a0bf74a138374c51e9e41d1909c82298f">  187</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a0bf74a138374c51e9e41d1909c82298f">operator() </a>(<span class="keyword">const</span> <span class="keywordtype">double</span> &amp;score1, <span class="keyword">const</span> <span class="keywordtype">double</span> &amp;score2)<span class="keyword"> const</span></div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;          <span class="keywordflow">return</span> (score1 &lt; score2);</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;        }</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160; </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00201"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#ac403119b12dea7d4136448ecf1611549">  201</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#ac403119b12dea7d4136448ecf1611549">isValid</a> (</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;            <span class="keyword">const</span> PointCloudSourceConstPtr &amp;cloud_src,</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;            <span class="keyword">const</span> PointCloudTargetConstPtr &amp;cloud_tgt,</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;            <span class="keyword">const</span> Matrix4 &amp;transformation_matrix)<span class="keyword"> const</span></div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;          <span class="keywordflow">if</span> (pcl_isnan (<a class="code" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a266e46430d064eb803d7f2227a8526f5">threshold_</a>))</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;          {</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;            PCL_ERROR (<span class="stringliteral">&quot;[pcl::TransformationValidationEuclidean::isValid] Threshold not set! Please use setThreshold () before continuing.&quot;</span>);</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;            <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;          }</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160; </div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a4a3b387d465db596de91c7a3762e95f2">validateTransformation</a> (cloud_src, cloud_tgt, transformation_matrix) &lt; <a class="code" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a266e46430d064eb803d7f2227a8526f5">threshold_</a>);</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;        }</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160; </div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00219"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a1dc810755f17be1e899ff5015ff4e54e">  219</a></span>&#160;        <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a1dc810755f17be1e899ff5015ff4e54e">max_range_</a>;</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160; </div>
<div class="line"><a name="l00224"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a266e46430d064eb803d7f2227a8526f5">  224</a></span>&#160;        <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a266e46430d064eb803d7f2227a8526f5">threshold_</a>;</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160; </div>
<div class="line"><a name="l00227"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#aab533873782c46397466279f20ebe2a0">  227</a></span>&#160;        KdTreePtr <a class="code" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#aab533873782c46397466279f20ebe2a0">tree_</a>;</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160; </div>
<div class="line"><a name="l00231"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a11eadc8b12005ad20004486a95ebaaa4">  231</a></span>&#160;        <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a11eadc8b12005ad20004486a95ebaaa4">force_no_recompute_</a>;</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160; </div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160; </div>
<div class="line"><a name="l00235"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_transformation_validation_euclidean_1_1_my_point_representation.html">  235</a></span>&#160;        <span class="keyword">class </span><a class="code" href="classpcl_1_1registration_1_1_transformation_validation_euclidean_1_1_my_point_representation.html">MyPointRepresentation</a>: <span class="keyword">public</span> <a class="code" href="classpcl_1_1_point_representation.html">pcl::PointRepresentation</a>&lt;PointTarget&gt;</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;        {</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;          <span class="keyword">using</span> <a class="code" href="classpcl_1_1_point_representation.html">pcl::PointRepresentation&lt;PointTarget&gt;::nr_dimensions_</a>;</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;          <span class="keyword">using</span> <a class="code" href="classpcl_1_1_point_representation.html">pcl::PointRepresentation&lt;PointTarget&gt;::trivial_</a>;</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;          <span class="keyword">public</span>:</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;            <span class="keyword">typedef</span> boost::shared_ptr&lt;MyPointRepresentation&gt; Ptr;</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;            <span class="keyword">typedef</span> boost::shared_ptr&lt;const MyPointRepresentation&gt; ConstPtr;</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;            </div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;            <a class="code" href="classpcl_1_1registration_1_1_transformation_validation_euclidean_1_1_my_point_representation.html">MyPointRepresentation</a> ()</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;            {</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;              <a class="code" href="classpcl_1_1_point_representation.html#a5a8d2c82167160ec74077b612b236c77">nr_dimensions_</a> = 3;</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;              <a class="code" href="classpcl_1_1_point_representation.html#a5ada3acdb7732a09aeaabb0bced153cd">trivial_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;            }</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;      </div>
<div class="line"><a name="l00250"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_transformation_validation_euclidean_1_1_my_point_representation.html#a5c8783c091ded75ae2316ff25687baaa">  250</a></span>&#160;            <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1registration_1_1_transformation_validation_euclidean_1_1_my_point_representation.html#a5c8783c091ded75ae2316ff25687baaa">~MyPointRepresentation</a> () {}</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160; </div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;            <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00253"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_transformation_validation_euclidean_1_1_my_point_representation.html#ae2b84ec0e924107739305cc92b093d26">  253</a></span>&#160;            <a class="code" href="classpcl_1_1registration_1_1_transformation_validation_euclidean_1_1_my_point_representation.html#ae2b84ec0e924107739305cc92b093d26">copyToFloatArray</a> (<span class="keyword">const</span> PointTarget &amp;p, <span class="keywordtype">float</span> * out)<span class="keyword"> const</span></div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;<span class="keyword">            </span>{</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;              out[0] = p.x;</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;              out[1] = p.y;</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;              out[2] = p.z;</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;            }</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;        };</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160; </div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;        EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;    };</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;  }</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;}</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160; </div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/impl/transformation_validation_euclidean.hpp&gt;</span></div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160; </div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;<span class="preprocessor">#endif    </span><span class="comment">// PCL_REGISTRATION_TRANSFORMATION_VALIDATION_EUCLIDEAN_H_</span></div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_point_representation_html"><div class="ttname"><a href="classpcl_1_1_point_representation.html">pcl::PointRepresentation</a></div><div class="ttdoc">PointRepresentation provides a set of methods for converting a point structs/object into an n-dimensi...</div><div class="ttdef"><b>Definition:</b> point_representation.h:56</div></div>
<div class="ttc" id="aclasspcl_1_1_point_representation_html_a5a8d2c82167160ec74077b612b236c77"><div class="ttname"><a href="classpcl_1_1_point_representation.html#a5a8d2c82167160ec74077b612b236c77">pcl::PointRepresentation&lt; PointTarget &gt;::nr_dimensions_</a></div><div class="ttdeci">int nr_dimensions_</div><div class="ttdoc">The number of dimensions in this point's vector (i.e. the &quot;k&quot; in &quot;k-D&quot;)</div><div class="ttdef"><b>Definition:</b> point_representation.h:59</div></div>
<div class="ttc" id="aclasspcl_1_1_point_representation_html_a5ada3acdb7732a09aeaabb0bced153cd"><div class="ttname"><a href="classpcl_1_1_point_representation.html#a5ada3acdb7732a09aeaabb0bced153cd">pcl::PointRepresentation&lt; PointTarget &gt;::trivial_</a></div><div class="ttdeci">bool trivial_</div><div class="ttdoc">Indicates whether this point representation is trivial. It is trivial if and only if the following co...</div><div class="ttdef"><b>Definition:</b> point_representation.h:71</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_validation_euclidean_1_1_my_point_representation_html"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_validation_euclidean_1_1_my_point_representation.html">pcl::registration::TransformationValidationEuclidean::MyPointRepresentation</a></div><div class="ttdoc">Internal point representation uses only 3D coordinates for L2</div><div class="ttdef"><b>Definition:</b> transformation_validation_euclidean.h:236</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_validation_euclidean_1_1_my_point_representation_html_a5c8783c091ded75ae2316ff25687baaa"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_validation_euclidean_1_1_my_point_representation.html#a5c8783c091ded75ae2316ff25687baaa">pcl::registration::TransformationValidationEuclidean::MyPointRepresentation::~MyPointRepresentation</a></div><div class="ttdeci">virtual ~MyPointRepresentation()</div><div class="ttdoc">Empty destructor</div><div class="ttdef"><b>Definition:</b> transformation_validation_euclidean.h:250</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_validation_euclidean_1_1_my_point_representation_html_ae2b84ec0e924107739305cc92b093d26"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_validation_euclidean_1_1_my_point_representation.html#ae2b84ec0e924107739305cc92b093d26">pcl::registration::TransformationValidationEuclidean::MyPointRepresentation::copyToFloatArray</a></div><div class="ttdeci">virtual void copyToFloatArray(const PointTarget &amp;p, float *out) const</div><div class="ttdoc">Copy point data from input point to a float array. This method must be overriden in all subclasses.</div><div class="ttdef"><b>Definition:</b> transformation_validation_euclidean.h:253</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_validation_euclidean_html"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html">pcl::registration::TransformationValidationEuclidean</a></div><div class="ttdoc">TransformationValidationEuclidean computes an L2SQR norm between a source and target dataset.</div><div class="ttdef"><b>Definition:</b> transformation_validation_euclidean.h:75</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_validation_euclidean_html_a088b2fe5791d85b42bc0df60ab159915"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a088b2fe5791d85b42bc0df60ab159915">pcl::registration::TransformationValidationEuclidean::setThreshold</a></div><div class="ttdeci">void setThreshold(double threshold)</div><div class="ttdoc">Set a threshold for which a specific transformation is considered valid.</div><div class="ttdef"><b>Definition:</b> transformation_validation_euclidean.h:151</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_validation_euclidean_html_a09e7a63b5ab2e28444fe5fbf3859d8fa"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a09e7a63b5ab2e28444fe5fbf3859d8fa">pcl::registration::TransformationValidationEuclidean::setSearchMethodTarget</a></div><div class="ttdeci">void setSearchMethodTarget(const KdTreePtr &amp;tree, bool force_no_recompute=false)</div><div class="ttdoc">Provide a pointer to the search object used to find correspondences in the target cloud.</div><div class="ttdef"><b>Definition:</b> transformation_validation_euclidean.h:132</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_validation_euclidean_html_a0bf74a138374c51e9e41d1909c82298f"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a0bf74a138374c51e9e41d1909c82298f">pcl::registration::TransformationValidationEuclidean::operator()</a></div><div class="ttdeci">virtual bool operator()(const double &amp;score1, const double &amp;score2) const</div><div class="ttdoc">Comparator function for deciding which score is better after running the validation on multiple trans...</div><div class="ttdef"><b>Definition:</b> transformation_validation_euclidean.h:187</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_validation_euclidean_html_a11eadc8b12005ad20004486a95ebaaa4"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a11eadc8b12005ad20004486a95ebaaa4">pcl::registration::TransformationValidationEuclidean::force_no_recompute_</a></div><div class="ttdeci">bool force_no_recompute_</div><div class="ttdoc">A flag which, if set, means the tree operating on the target cloud will never be recomputed</div><div class="ttdef"><b>Definition:</b> transformation_validation_euclidean.h:231</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_validation_euclidean_html_a1dc810755f17be1e899ff5015ff4e54e"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a1dc810755f17be1e899ff5015ff4e54e">pcl::registration::TransformationValidationEuclidean::max_range_</a></div><div class="ttdeci">double max_range_</div><div class="ttdoc">The maximum allowable distance between a point and its correspondence in the target in order for a co...</div><div class="ttdef"><b>Definition:</b> transformation_validation_euclidean.h:219</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_validation_euclidean_html_a266e46430d064eb803d7f2227a8526f5"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a266e46430d064eb803d7f2227a8526f5">pcl::registration::TransformationValidationEuclidean::threshold_</a></div><div class="ttdeci">double threshold_</div><div class="ttdoc">The threshold for which a specific transformation is valid. Set to NaN by default,...</div><div class="ttdef"><b>Definition:</b> transformation_validation_euclidean.h:224</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_validation_euclidean_html_a4a3b387d465db596de91c7a3762e95f2"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a4a3b387d465db596de91c7a3762e95f2">pcl::registration::TransformationValidationEuclidean::validateTransformation</a></div><div class="ttdeci">double validateTransformation(const PointCloudSourceConstPtr &amp;cloud_src, const PointCloudTargetConstPtr &amp;cloud_tgt, const Matrix4 &amp;transformation_matrix) const</div><div class="ttdoc">Validate the given transformation with respect to the input cloud data, and return a score.</div><div class="ttdef"><b>Definition:</b> transformation_validation_euclidean.hpp:45</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_validation_euclidean_html_a4d2c5b51f8e414fe6c2eb5d77fd7b7ec"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a4d2c5b51f8e414fe6c2eb5d77fd7b7ec">pcl::registration::TransformationValidationEuclidean::setMaxRange</a></div><div class="ttdeci">void setMaxRange(double max_range)</div><div class="ttdoc">Set the maximum allowable distance between a point and its correspondence in the target in order for ...</div><div class="ttdef"><b>Definition:</b> transformation_validation_euclidean.h:109</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_validation_euclidean_html_a71682f1eb016eada0311db140d67360a"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#a71682f1eb016eada0311db140d67360a">pcl::registration::TransformationValidationEuclidean::getMaxRange</a></div><div class="ttdeci">double getMaxRange()</div><div class="ttdoc">Get the maximum allowable distance between a point and its correspondence, as set by the user.</div><div class="ttdef"><b>Definition:</b> transformation_validation_euclidean.h:118</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_validation_euclidean_html_aa55f5a002921ff508152c24c2433e0ff"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#aa55f5a002921ff508152c24c2433e0ff">pcl::registration::TransformationValidationEuclidean::getThreshold</a></div><div class="ttdeci">double getThreshold()</div><div class="ttdoc">Get the threshold for which a specific transformation is valid.</div><div class="ttdef"><b>Definition:</b> transformation_validation_euclidean.h:158</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_validation_euclidean_html_aab533873782c46397466279f20ebe2a0"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#aab533873782c46397466279f20ebe2a0">pcl::registration::TransformationValidationEuclidean::tree_</a></div><div class="ttdeci">KdTreePtr tree_</div><div class="ttdoc">A pointer to the spatial search object.</div><div class="ttdef"><b>Definition:</b> transformation_validation_euclidean.h:227</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_validation_euclidean_html_ac403119b12dea7d4136448ecf1611549"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#ac403119b12dea7d4136448ecf1611549">pcl::registration::TransformationValidationEuclidean::isValid</a></div><div class="ttdeci">virtual bool isValid(const PointCloudSourceConstPtr &amp;cloud_src, const PointCloudTargetConstPtr &amp;cloud_tgt, const Matrix4 &amp;transformation_matrix) const</div><div class="ttdoc">Check if the score is valid for a specific transformation.</div><div class="ttdef"><b>Definition:</b> transformation_validation_euclidean.h:201</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_validation_euclidean_html_ad0a9993b02007f440f6a70bed4cfabcb"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_validation_euclidean.html#ad0a9993b02007f440f6a70bed4cfabcb">pcl::registration::TransformationValidationEuclidean::TransformationValidationEuclidean</a></div><div class="ttdeci">TransformationValidationEuclidean()</div><div class="ttdoc">Constructor. Sets the max_range parameter to double::max, threshold_ to NaN and initializes the inter...</div><div class="ttdef"><b>Definition:</b> transformation_validation_euclidean.h:94</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_kd_tree_html"><div class="ttname"><a href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree&lt; PointTarget &gt;</a></div></div>
</div><!-- fragment --></div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><a class="el" href="dir_05a7d3fa63398329a063418701e459b8.html">registration</a></li><li class="navelem"><a class="el" href="dir_4ae07afb78675be4cbd22b293e4a6696.html">include</a></li><li class="navelem"><a class="el" href="dir_2fef8963f1cfbd0f6472a197f46a93e4.html">pcl</a></li><li class="navelem"><a class="el" href="dir_003a12cd6c43fd0e3458933fbdf52053.html">registration</a></li><li class="navelem"><b>transformation_validation_euclidean.h</b></li>
    <li class="footer">制作者 <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1 </li>
  </ul>
</div>
</body>
</html>
